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Operator-based Robust Nonlinear Tracking Control for A Human Multi-joint Arm-like Manipulator with Unknown Time-varying Delays |
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PP: 459-468 |
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Author(s) |
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Aihui Wang,
Mingcong Deng,
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Abstract |
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| In this paper, an operator-based robust nonlinear tracking control for a human multi-joint arm-like manipulator with unknown
time-varying delays is proposed by using robust right coprime factorization approach and a forward predictive operator. That
is, first, considering the uncertainties of dynamic model consist of measurement error and disturbances, a nonlinear feedback control
scheme is designed to eliminate effect of uncertainties. Second, an operator controller based on real measured data from human
multi-joint arm viscoelasticity is presented to obtain desired motion mechanism of human multi-joint arm viscoelastic properties, the
unknown time-varying delays are described by a delay operator, and the forward predictive operator is designed to compensate the
effect of CNS during human multi-joint arm movements and to remove the effect of unknown time-varying delays while the real online
measured data of human multi-joint arm viscoelasticity is fed to the designed operator controller. Finally, the effectiveness of the
proposed design scheme is confirmed by the simulation results based on experimental data.
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